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main.cpp
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main.cpp
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#include<cv.h>
#include<highgui.h>
#include<iostream>
#include<io.h>
#include"ransac_line2d.h"
#include"ransac_circle2d.h"
#include"ransac_ellipse2d.h"
using namespace cv;
using namespace std;
bool testLine2d()
{
cv::Mat src = cv::imread("linesTest.bmp", CV_LOAD_IMAGE_GRAYSCALE);
if (src.empty())
return false;
Mat inImg, showMat;
cvtColor(src, showMat, CV_GRAY2BGR);
threshold(src, inImg, 10, 255, CV_THRESH_BINARY_INV);
std::vector<sac::Point2D> pCloud2D;
for (int i = 0; i < inImg.rows; i++)
{
uchar* p = inImg.ptr<uchar>(i);
for (int j = 0; j < inImg.cols; j++)
{
if (p[j] != 0)
pCloud2D.push_back(sac::Point2D(j, i));
}
}
sac::ransacModelLine2D line2D;
std::vector<int> inliers;
sac::ModelCoefficient parameter;
line2D.setInputCloud(pCloud2D);
line2D.setDistanceThreshold(5);
line2D.setMaxIterations(2500);
line2D.computeModel();
line2D.getInliers(inliers);
line2D.getModelCoefficients(parameter);
Point sp((int)parameter.modelParam[0], (int)parameter.modelParam[1]);
Point ep((int)parameter.modelParam[2], (int)parameter.modelParam[3]);
int dx = sp.x - ep.x;
int dy = sp.y - ep.y;
sp.x = sp.x + 10 * dx;
sp.y = sp.y + 10 * dy;
ep.x = ep.x - 10 * dx;
ep.y = ep.y - 10 * dy;
line(showMat, sp, ep, Scalar(0, 0, 255), 2, 8);
cout << "Parameter of 2D line: < " << parameter.modelParam[0] << ", " <<
parameter.modelParam[1] << " >---< " << parameter.modelParam[2] << ", " <<
parameter.modelParam[3] << " > " << endl;
return true;
}
bool testLine2dMulti()
{
cv::Mat src = cv::imread("linesTest.bmp", CV_LOAD_IMAGE_GRAYSCALE);
if (src.empty())
return false;
Mat inImg, showMat;
cvtColor(src, showMat, CV_GRAY2BGR);
threshold(src, inImg, 10, 255, CV_THRESH_BINARY_INV);
std::vector<sac::Point2D> pCloud2D;
for (int i = 0; i < inImg.rows; i++)
{
uchar* p = inImg.ptr<uchar>(i);
for (int j = 0; j < inImg.cols; j++)
{
if (p[j] != 0)
pCloud2D.push_back(sac::Point2D(j, i));
}
}
sac::ransacModelLine2D line2D;
std::vector<int> inliers;
sac::ModelCoefficient parameter;
line2D.setDistanceThreshold(5);
line2D.setMaxIterations(1000);
while (pCloud2D.size() > 500)
{
line2D.setInputCloud(pCloud2D);
line2D.computeModel();
line2D.getModelCoefficients(parameter);
Point sp((int)parameter.modelParam[0], (int)parameter.modelParam[1]);
Point ep((int)parameter.modelParam[2], (int)parameter.modelParam[3]);
int dx = sp.x - ep.x;
int dy = sp.y - ep.y;
sp.x = sp.x + 10 * dx;
sp.y = sp.y + 10 * dy;
ep.x = ep.x - 10 * dx;
ep.y = ep.y - 10 * dy;
line(showMat, sp, ep, Scalar(0, 255, 0), 2, 8);
imshow("multiLines", showMat);
waitKey(1);
cout << "Parameter of 2D line: < " << parameter.modelParam[0] << ", " <<
parameter.modelParam[1] << " >---< " << parameter.modelParam[2] << ", " <<
parameter.modelParam[3] << " > " << " k: " << dy*1.0 / dx << endl;
line2D.getInliers(inliers);
line2D.removeInliders(pCloud2D, inliers);
}
waitKey(-1);
cout << endl;
return true;
}
bool testCircle2d()
{
cv::Mat src = cv::imread("circlesTest.bmp", CV_LOAD_IMAGE_GRAYSCALE);
if (src.empty())
return false;
Mat inImg, showMat;
cvtColor(src, showMat, CV_GRAY2BGR);
threshold(src, inImg, 10, 255, CV_THRESH_BINARY_INV);
std::vector<sac::Point2D> pCloud2D;
for (int i = 0; i < inImg.rows; i++)
{
uchar* p = inImg.ptr<uchar>(i);
for (int j = 0; j < inImg.cols; j++)
{
if (p[j] != 0)
pCloud2D.push_back(sac::Point2D(j, i));
}
}
sac::ransacModelCircle2D circle2D;
std::vector<int> inliers;
sac::ModelCoefficient parameter;
circle2D.setInputCloud(pCloud2D);
circle2D.setDistanceThreshold(5);
circle2D.setMaxIterations(2500);
circle2D.computeModel();
circle2D.getInliers(inliers);
circle2D.getModelCoefficients(parameter);
Point cp((int)parameter.modelParam[0], (int)parameter.modelParam[1]);
int radius = (int)parameter.modelParam[2];
circle(showMat, cp, radius, Scalar(0, 0, 255), 2, 8);
cout << "Parameter of 2D circle: center < " << parameter.modelParam[0] << ", " <<
parameter.modelParam[1] << " > --- radius: " << parameter.modelParam[2] << endl;
return true;
}
bool testCircle2dMulti()
{
cv::Mat src = cv::imread("circlesTest.bmp", CV_LOAD_IMAGE_GRAYSCALE);
if (src.empty())
return false;
Mat inImg, showMat;
cvtColor(src, showMat, CV_GRAY2BGR);
threshold(src, inImg, 10, 255, CV_THRESH_BINARY_INV);
std::vector<sac::Point2D> pCloud2D;
for (int i = 0; i < inImg.rows; i++)
{
uchar* p = inImg.ptr<uchar>(i);
for (int j = 0; j < inImg.cols; j++)
{
if (p[j] != 0)
pCloud2D.push_back(sac::Point2D(j, i));
}
}
double specRadius = 100;
sac::ransacModelCircle2D circle2D;
std::vector<int> inliers;
sac::ModelCoefficient parameter;
circle2D.setDistanceThreshold(5);
circle2D.setMaxIterations(2500);
//circle2D.setSpecificRadius(specRadius, 0.2);
while (pCloud2D.size() > 500)
{
circle2D.setInputCloud(pCloud2D);
circle2D.computeModel();
circle2D.getInliers(inliers);
circle2D.getModelCoefficients(parameter);
if (inliers.size() < specRadius * 2 * CV_PI)
break;
Point cp((int)parameter.modelParam[0], (int)parameter.modelParam[1]);
int radius = (int)parameter.modelParam[2];
circle(showMat, cp, radius, Scalar(0, 255, 0), 2, 8);
imshow("circles", showMat);
waitKey(500);
cout << "Parameter of 2D line: < " << parameter.modelParam[0] << ", " <<
parameter.modelParam[1] << " >---" << parameter.modelParam[2] << endl;
circle2D.removeInliders(pCloud2D, inliers);
}
waitKey();
cout << endl;
return true;
}
bool testEllipse2dMulti()
{
cv::Mat src = cv::imread("ellipsesTest.bmp", CV_LOAD_IMAGE_GRAYSCALE);
if (src.empty())
return false;
Mat inImg, showMat;
cvtColor(src, showMat, CV_GRAY2BGR);
threshold(src, inImg, 10, 255, CV_THRESH_BINARY_INV);
std::vector<sac::Point2D> pCloud2D;
for (int i = 0; i < inImg.rows; i++)
{
uchar* p = inImg.ptr<uchar>(i);
for (int j = 0; j < inImg.cols; j++)
{
if (p[j] != 0)
pCloud2D.push_back(sac::Point2D(j, i));
}
}
sac::ransacModelEllipse2D ellipse2D;
std::vector<int> inliers;
sac::ModelCoefficient parameter;
ellipse2D.setDistanceThreshold(5);
ellipse2D.setMaxIterations(2500);
ellipse2D.setSpecficAxisLength(120, 80, 0.3);
//ellipse2D.setSpecficAxisLength(135, 85, 0.5);
while (pCloud2D.size() > 500)
{
cout << pCloud2D.size() << endl;
ellipse2D.setInputCloud(pCloud2D);
ellipse2D.computeModel();
ellipse2D.getInliers(inliers);
ellipse2D.getModelCoefficients(parameter);
if (inliers.size() < 500)
break;
cv::Point2f ellipseCenter;
ellipseCenter.x = (float)parameter.modelParam[0];
ellipseCenter.y = (float)parameter.modelParam[1];
cv::Size2f ellipseSize;
ellipseSize.width = (float)parameter.modelParam[2] * 2;
ellipseSize.height = (float)parameter.modelParam[3] * 2;
float ellipseAngle = (float)parameter.modelParam[4];
cout << "Parameters of ellipse2D: < " << parameter.modelParam[0] << ", " <<
parameter.modelParam[1] << " > --- ";
cout << "Long/Short Axis: " << parameter.modelParam[2] << "/" << parameter.modelParam[3] << " --- ";
cout << "Angle: " << parameter.modelParam[4] << endl;
cv::ellipse(showMat, cv::RotatedRect(ellipseCenter, ellipseSize, ellipseAngle), cv::Scalar(0, 255, 0), 2, 8);
imshow("ellipses", showMat);
waitKey(12);
ellipse2D.removeInliders(pCloud2D, inliers);
}
return true;
}
bool testCircle2dPlus()
{
cv::Mat src = cv::imread("circlesTest.bmp", CV_LOAD_IMAGE_GRAYSCALE);
if (src.empty())
return false;
Mat inImg, showMat;
cvtColor(src, showMat, CV_GRAY2BGR);
threshold(src, inImg, 10, 255, CV_THRESH_BINARY_INV);
std::vector<sac::Point2D> pCloud2D;
for (int i = 0; i < inImg.rows; i++)
{
uchar* p = inImg.ptr<uchar>(i);
for (int j = 0; j < inImg.cols; j++)
{
if (p[j] != 0)
pCloud2D.push_back(sac::Point2D(j, i));
}
}
vector<double> multiRaius; multiRaius.push_back(10); multiRaius.push_back(75);
sac::ransacModelCircle2D circle2D;
std::vector<int> inliers;
sac::ModelCoefficient parameter;
circle2D.setInputCloud(pCloud2D);
circle2D.setDistanceThreshold(5);
circle2D.setMaxIterations(2500);
circle2D.setMultiRadius(multiRaius, 0.2);
circle2D.computeModel();
circle2D.getInliers(inliers);
circle2D.getModelCoefficients(parameter);
Point cp((int)parameter.modelParam[0], (int)parameter.modelParam[1]);
int radius = (int)parameter.modelParam[2];
circle(showMat, cp, radius, Scalar(0, 0, 255), 2, 8);
cout << "Parameter of 2D circle: center < " << parameter.modelParam[0] << ", " <<
parameter.modelParam[1] << " > --- radius: " << parameter.modelParam[2] << endl;
return true;
}
bool testCircle2dMultiPlus()
{
cv::Mat src = cv::imread("circlesTest.bmp", CV_LOAD_IMAGE_GRAYSCALE);
if (src.empty())
return false;
Mat inImg, showMat;
cvtColor(src, showMat, CV_GRAY2BGR);
threshold(src, inImg, 10, 255, CV_THRESH_BINARY_INV);
std::vector<sac::Point2D> pCloud2D;
for (int i = 0; i < inImg.rows; i++)
{
uchar* p = inImg.ptr<uchar>(i);
for (int j = 0; j < inImg.cols; j++)
{
if (p[j] != 0)
pCloud2D.push_back(sac::Point2D(j, i));
}
}
double specRadius = 100;
vector<double> multiRaius; multiRaius.push_back(100); multiRaius.push_back(75);
sac::ransacModelCircle2D circle2D;
std::vector<int> inliers;
sac::ModelCoefficient parameter;
circle2D.setDistanceThreshold(5);
circle2D.setMaxIterations(2000);
//circle2D.setSpecificRadius(specRadius, 0.2);
circle2D.setMultiRadius(multiRaius, 0.2);
while (pCloud2D.size() > 500)
{
circle2D.setInputCloud(pCloud2D);
circle2D.computeModel();
circle2D.getInliers(inliers);
circle2D.getModelCoefficients(parameter);
if (inliers.size() < parameter.modelParam[2] * 2 * CV_PI)
break;
//Point cp((int)parameter.modelParam[0], (int)parameter.modelParam[1]);
//int radius = (int)parameter.modelParam[2];
//circle(showMat, cp, radius, Scalar(0, 0, 255), 2, 8);
//imshow("circles", showMat);
//waitKey(5);
//cout << "Parameter of 2D line: < " << parameter.modelParam[0] << ", " << parameter.modelParam[1] << " >---" << parameter.modelParam[2] << endl;
circle2D.removeInliders(pCloud2D, inliers);
}
//cout << endl;
return true;
}
int main()
{
testEllipse2dMulti();
testCircle2dMulti();
testLine2dMulti();
return 1;
}